Thermal imaging lance assembly

ABSTRACT

In accordance with one implementation, a fluid jet lance can include a camera mount configured to selectively position a thermal imaging camera in a line of sight of a user. In accordance with another implementation, the thermal imaging lance can be utilized by orienting a thermal imaging camera attached to the fluid jet lance in an operator&#39;s line of sight with a solid surface. The lance may then be aimed at a target behind the solid surface. The solid surface may be penetrated by using a jet of fluid emitted from the lance. And, a jet of fluid may be dispensed at the target. In accordance with yet another implementation, an apparatus can include a fluid jet lance as well as a source of abrasive material coupled with the fluid jet lance. A source of a chemical agent may also be coupled with the fluid jet lance.

RELATED APPLICATION

This application claims priority to U.S. Provisional Patent Application No. 61/624,909, filed on Apr. 16, 2012 and titled “Thermal Imaging Lance Assembly” which is hereby incorporated by reference in its entirety and for all purposes.

BACKGROUND

Fluid jet systems have many applications, such as firefighting, military/law enforcement, search-and-rescue operations, surface cleaning, hydroexcavation, demolition, machining, mining, etc. Typical fluid jet systems provide a cutting or abrading function by projecting a jet of fluid at high velocity and pressure at a structure or surface. The specific fluid employed depends on the application. For example, for firefighting applications, a combination of water and an abrasive material may be employed to penetrate a wall or ceiling of a structure having a fire within. Upon creating a hole in the wall or ceiling, the abrasive material flow may be terminated while continuing the water flow through the hole to knock down the fire within the structure.

SUMMARY

In accordance with one implementation, a fluid jet lance can include a camera mount configured to selectively position a thermal imaging camera in a line of sight of a user.

In accordance with another implementation, the thermal imaging lance can be utilized by orienting a thermal imaging camera attached to the fluid jet lance in an operator's line of sight with a solid surface. The lance may then be aimed at a target behind the solid surface. The solid surface may be penetrated by using a jet of fluid emitted from the lance. And, a jet of fluid may be dispensed at the target.

In accordance with yet another implementation, an apparatus can include a fluid jet lance as well as a source of abrasive material coupled with the fluid jet lance. A source of a chemical agent may also be coupled with the fluid jet lance.

Further implementations will be apparent from this specification as well as the supporting figures.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 illustrates an example fluid jet system with an integrated thermal imaging camera used in a firefighting application, the example fluid jet system including a fluid jet base station and a fluid jet assembly.

FIG. 2 illustrates an example fluid jet lance with an integrated thermal imaging camera used during a cutting operation against a surface.

FIG. 3 illustrates a side view of an example fluid jet lance with an integrated thermal imaging camera.

FIG. 4A illustrates an exploded view of an example ambidextrous fluid jet lance with a thermal imaging camera mount.

FIG. 4B illustrates an assembled view of the fluid jet lance shown in FIG. 4A.

FIG. 5A illustrates an example fluid jet lance carrying handle with a thermal imaging camera mount, in an exploded view.

FIG. 5B illustrates a perspective view of the fluid jet lance carrying handle shown in FIG. 5A.

FIG. 5C illustrates a bottom view of the fluid jet lance carrying handle shown in FIG. 5A

FIG. 5D illustrates a side view of the fluid jet lance carrying handle shown in FIG. 5A.

FIG. 5E illustrates an end view of the fluid jet lance carrying handle shown in FIG. 5A.

FIG. 6A illustrates the example fluid jet lance carrying handle mounting plate of FIG. 5A, in a perspective view.

FIG. 6B illustrates a second perspective view of the mounting plate of FIG. 5A.

FIG. 6C illustrates a bottom view of the mounting plate shown in FIG. 6A.

FIG. 6D illustrates a side view of the mounting plate shown in FIG. 6A.

FIG. 6E illustrates a top view of the mounting plate shown in FIG. 6A.

FIG. 7A illustrates a front view of an example of an ambidextrous stabilizing handle for a fluid jet lance.

FIG. 7B illustrates a top view of the ambidextrous stabilizing handle shown in FIG. 7A.

FIG. 7C illustrates a side view of the ambidextrous stabilizing handle shown in FIG. 7A.

FIG. 7D illustrates an exploded view of the ambidextrous stabilizing handle shown in FIG. 7A.

FIG. 8 illustrates example operations for using an ambidextrous fluid jet lance with an integrated thermal imaging camera in a firefighting application.

FIG. 9 illustrates a block diagram of a computer controlled fluid jet lance with a thermal imaging camera.

FIG. 10 illustrates a block diagram of a system that can be used for processor implemented devices.

DETAILED DESCRIPTIONS

While the presently disclosed technology is described with specificity to firefighting applications, it is understood that technology described and claimed herein may be employed in other applications, including military/law enforcement, search-and-rescue operations, surface cleaning, hydroexcavation, demolition, machining, mining, etc.

Fluid jet systems are extremely useful. Nevertheless, it can be difficult to know the environmental conditions (e.g., temperatures) within the structure prior to and after making penetration using the projected jet of fluid. Knowing the environmental conditions and effectively communicating those conditions to an operator of the fluid jet system could resolve certain safety and maintenance concerns and improve performance of the fluid jet system.

FIG. 1 illustrates an example fluid jet system 100 with an integrated thermal imaging camera 101 used in a firefighting application, the example fluid jet system 100 including a fluid jet base station 102 and a fluid jet assembly 104 (also referred to as a lance 104). The camera can include both a sensor to gather image data as well as a display screen to display the image data. Example fluids used in the fluid jet system 100 include a fluid (e.g., water), combinations of the fluid and an abrasive material, and combinations of the fluid and foam. The specific fluid employed depends on the particular application for the fluid jet system 100. For example, a flow of fire retardant foam may be combined with the water flow to enhance the suppression of a fire 112 (e.g., by coating the fire's fuel to reduce its contact with oxygen).

In the example shown in FIG. 1, an operator 106 (e.g., a firefighter) is shown holding a distal end of the lance 104 against a wall 108 (or door) of an enclosure 110 within which the fire 112 is burning. The lance 104 includes the integrated thermal imaging camera 101, which allows the operator 106 to view thermal conditions within the enclosure 110 in order to decide how best to use the lance 104. For example, if the peak temperature within the enclosure 110 exceeds a threshold, the operator 106 may become aware of the fire 112 within the enclosure 110 and use the fluid jet system 100 to control and/or extinguish the fire 112. Further, if the peak temperature within the enclosure 110 drops below a threshold while the operator 106 is using the fluid jet system 100, the operator 106 may observe that the fire 112 has been extinguished and/or is under sufficient control to permit entry into the enclosure 110 to firefighters to continue fighting the fire 112 or survey damage caused by the fire.

The thermal imaging camera 101 (or thermographic camera) can render infrared radiation as visible light in real-time (with perhaps some delay). As a result, the operator 106 may use the thermal imaging camera 101 to see heat through smoke, darkness, the wall 108, or other heat-permeable barriers. In various implementations, the thermal imaging camera 101 includes a heat and/or water resistant housing to prevent damage to the thermal imaging camera 101 in the field.

The lance 104 further includes a rigid lance barrel through which high-pressure fluid flows during operation. The rigid lance barrel allows the operator 106 to accurately direct the fluid flow and to steady the lance 104 against the wall 108. The operator 106 initially cuts through the wall 108 using a combined flow of high-pressure water and abrasive material. When the wall 108 is penetrated, the operator 106 ceases the flow of abrasive material while continuing the flow of water, which streams into the enclosure 110 through the newly cut hole 114 in the wall 108 in a high-pressure jet 116 having a small water droplet size (e.g., approximately 0.0059 inches or 150 microns in diameter) and a high velocity (e.g., approximately 400-450 mile per hour or 200 meters per second).

The fluid characteristics are such that high-pressure jet 116 may extend a considerable distance (e.g., over 40 feet) into the enclosure 110, despite convection currents caused by the fire 112, and knocks down the fire 112. Much of the water in the high-pressure jet 116 is vaporized (as shown by steam 118), reducing the intensity of the fire 112 and the temperature within the enclosure 110. In this manner, the fluid jet system 100 knocks down the fire 112 and makes it safer for firefighters to enter the enclosure 110 to progress their firefighting activities. Further, the operator 106 may use information from the thermal imaging camera 101 to fine tune the velocity (direction and/or speed) of the high pressure jet 116 so that it is most effectively directed to knock down the fire 112.

In preparation for applying the fluid jet system 100 to the fire 112 in the enclosure 110, the operator 106 takes a steady stance, holds the lance 104 against his shoulder and with both hands (e.g., one hand in the trigger guard of the lance 104 and the other on a barrel handle 103 located forward of the trigger guard on the lance barrel), and places a placement structure 105 at the distal end of the lance 104 against the wall 108.

The lance 104 may be configured for right-handed, left-handed, or ambidextrous use. More specifically, the thermal imaging camera 101 may be selectively placed on the left side or right side of the lance 104 depending on the operator's placement of his/her head relative to the lance. Further, the thermal imaging camera 101 may be selectively placed in the middle of the lance 104 for storage and/or transport of the lance 104. This position may serve to reduce the overall size of the lance 104 and/or protect the thermal imaging camera 101 during storage and/or transport of the lance 104. The thermal imaging camera 101 may also be angle, distance, and/or height adjustable to be most advantageously positioned for the operator's use. Further, the barrel handle 103 may actually include two handles or the barrel handle 103 is moveable to suit both left-handed and right-handed operators.

In one implementation, the placement structure 105 of the lance includes a 3-pronged offset fixture with a splash plate to protect the operator 106 from spray-back of fluid and debris during the cutting operation. Other placement structures may be employed to steady or aim the fluid jet 116 at a target region of the structure 110. In some implementations, cutting performance of the fluid jet 116 is improved if the placement structure allows the operator 106 to “wiggle” the fluid jet 116 about the target region. In this manner, the hole 114 that is cut in the structure 110 by the fluid jet 116 develops as larger diameter than the fluid jet 116 itself, thereby allowing fluid and debris to evacuate during the cutting operation.

In the illustrated implementation, the lance 104 includes two triggers: (1) a trigger to control the flow of water from the fluid jet base station 102 through the lance 104; and (2) a trigger to control the flow of abrasive material from an abrasives holding tank in the fluid jet base station 102 through the lance 104. To commence the cutting stage, the operator 106 pulls both triggers and a combined flow of water and abrasive material flows at high velocity against the wall 108, quickly cutting the hole 114 through the wall 108. After the wall 108 is penetrated by the water/abrasive material combination, the operator 106 releases the abrasive material trigger and continues the flow of high-pressure water through the lance 104, through the hole 114 in the wall 108, and into the enclosure 110 to knock down the fire 112.

While the implementation used above is illustrated with a two trigger arrangement, it should be noted that this is merely an example implementation of a switching arrangement. One could alternatively use other control mechanisms, such as a toggle switch, a pushbutton switch, or other type of switching device. Similarly, one could use a combination of switching devices, such as a trigger and pushbutton switch.

In another implementation, the lance 104 includes a trigger and a switch. The trigger controls the flow of water from the fluid jet base station 102 through the lance 104 and the switch controls the flow of abrasive material (or foam or other additives) from a holding tank in the fluid jet base station 102 through the lance 104. In yet another implementation, flow of the water, abrasive material, or other components of the fluid jet 116 may be controlled by another operator (not shown) at the jet base station 102 or elsewhere. The operator 106 merely positions and orients lance 104. The operator 106 and base station operator may share the responsibility of operating the fluid jet system 100 in any combination of duties.

The lance 104 includes a lance hose 120, which threads through the barrel of the lance 104 and is anchored to the distal end of the lance 104. The lance hose 120 threads out of the proximal end of the lance 104 a safe distance (e.g., from a few feet to over several yards away) away from the operator 106 to a high pressure coupling 122, which couples the lance hose 120 to a base station hose 124.

The fluid jet base station 102 includes a motorized hose reel 126 that allows the base station hose 124 to be extended during operation and refracted during storage. In the illustrated implementation, the fluid jet base station 102 also includes, among other components, a power source (such as a diesel or gasoline engine), a fluid source (such as a water intake hose or reservoir), an abrasives holding tank 128, a communications system (see antenna 130), a high pressure pump, multiple valves with one or more valve manifolds, and a flow junction for combining multiple flows (e.g., a water flow and an abrasive material flow).

In some implementations, control of the two triggers (or trigger and switch) and/or the base station 102 is partially or fully automatically controlled based on information received from the thermal imaging camera 101 or other sensors associated with the fluid jet system 100. For example, the base station 102 may pressurize the base station hose 124 when the thermal imaging camera 101 indicates that a fire 112 exists within the structure 110. The operator 106 may target the fire 112 by positioning the lance 104 in an appropriate location on the wall and aiming the lance 104 toward the detected fire 112. The operator 106 may commence flow of the cutting jet stream by depressing one or both triggers/switch. The operator 106 may manually cut off the abrasive flow once the hole 114 is cut in the wall 108. In another implementation, a pressure sensor on or near the placement structure 105 detects that the hole has been cut and automatically ceases flow of the abrasive material into the fluid jet 116. Further, one or both of the triggers/switch may be automatically turned off and/or the base station 102 may de-pressurize the base station hose 124 when the thermal imaging camera 101 detects that the fire 112 has been sufficiently knocked down or extinguished.

Similar automatic control schemes may be used for other applications, such as military/law enforcement, search-and-rescue, surface cleaning, hydroexcavation, etc. For example, the base station 102 may de-pressurize the base station hose 124 when an individual is detected in the path of the fluid jet 116.

FIG. 2 illustrates an example fluid jet lance 204 with an integrated thermal imaging camera 201 used during a cutting operation against a surface 202. A lance hose 210 is threaded into a proximal end 212 of the lance 204 and anchored at a distal end 216 of the lance 204. An operator 214 orients a shoulder support 205 of the lance 204 against the operator's right shoulder 207 (or left shoulder if the operator 214 is operating the lance 204 in a left-handed configuration). The operator 214 places his/her right hand 209 (or left hand if the operator 214 is operating the lance 204 in a left-handed configuration) on a trigger assembly 208 of the lance 204.

The operator 214 adjusts the position and/or orientation of the thermal imaging camera 201 so that the camera 201 if in the operator's line-of-sight with the surface 202 and oriented so that the operator 214 is able to visualize thermal conditions (including a target) behind the surface 202. The operator 214 places his/her left hand 211 (or right hand if the operator 204 is operating the lance 204 in a left-handed configuration) on an ambidextrous barrel handle 203 to orient a distal end of the lance 204 securely against the surface 202. The ambidextrous barrel handle 203 may include two handles or may be moveable to suit both left-handed and right-handed operators. The operator 214 pulls one or both triggers of the trigger assembly 208 (and/or a actuates a switch on the lance 204) to emit a fluid jet 213 of water and/or abrasive material toward the surface 202.

FIG. 3 illustrates a side view of an example fluid jet lance 300 with an integrated thermal imaging camera 301. A rigid, hollow lance barrel 302 has a proximal end 304 and a distal end 306. A shoulder support 308 is mounted to the lance barrel 302 at the proximal end 304 to provide additional support to an operator (not shown) operating the lance 300. A nozzle 310 at the distal end 306 defines characteristics of an outgoing fluid stream (not shown) as it exits the lance 300.

During operation, a high-pressure lance hose 312 is pressurized with a high-pressure fluid flow from a base station (see e.g., base station 102 of FIG. 1). The lance barrel 302, however, may not be pressurized. The high-pressure lance hose 312 may thread through the lance barrel 302 between proximal end 304 and the distal end 306 and anchor (e.g., fixedly secure) at the distal end 306 of the lance barrel 302 by an anchor point 314. The high-pressure lance hose 312 bears the pressure of the fluid flow while the rigid lance barrel 302 provides a stiff structure to allow the operator to direct the fluid jet when it exits the nozzle 310. In one implementation, the barrel is telescoping or otherwise length adjustable for easier transportation or use in tight spaces. Further, the rigid lance barrel 302 may be designed to absorb the pressure of the fluid flow in the event of a failure of the high-pressure lance hose 312 as a safety precaution.

For example, in a surface cleaning application, the operator can aim the fluid jet using the rigid lance barrel 302, much as one might aim with a barrel of a firearm. An offset fixture 341 is shown attached to the lance barrel 302 to steady the lance 300 against a cutting surface (not shown). The offset fixture 341 also holds the nozzle 310 away from the surface by a predetermined distance to minimize damage to the nozzle 310 during operation. A flat side 342 of the offset fixture 341 also acts as a splash shield to protect the operator and the rest of the lance 300 from damage caused by fluid and debris reflected from the surface when using the lance 300. During operation, a fluid jet is directed at a small point or area of the surface in order to cut through the surface. Waste fluid and debris may be evacuated from the cutting area in the offset distance enforced by the offset fixture 341.

The lance hose 312 extends out the proximal end 304 of the lance barrel 302 and away from the proximal end 304 for a substantial distance to provide a safe separation between the operator and a coupling 330 (see also e.g., coupling 122 of FIG. 1) to the base station. In this manner, the operator is protected by sufficient distance (e.g., from a few feet to over several yards) from two high pressure points of possible failure, the anchor point 314 at the distal end 306 and the high pressure coupling 330 between the lance hose 312 and the base station.

When the operator is operating the lance 300, the operator can position the shoulder support 308 against his/her shoulder and/or upper torso. The operator adjusts the position and orientation of the thermal imaging camera 301 so that it is positioned in the operator's line of sight with his/her intended target behind the cutting surface (e.g., within an enclosed or semi-enclosed structure) and oriented so that the operator may view his/her intended target behind the cutting surface in the thermal imaging camera 301. In one implementation, the thermal imaging camera 301 is attached to the lance 300 using a thermal imaging camera mount 309 that allows the operator to adjust the position and orientation of the thermal imaging camera 301. For example, the thermal imaging camera mount 309 may swing to either side of the lance 300 and swing upward and downward. The thermal imaging camera mount 309 may further tilt side to side and/or up and down to allow the operator to locate and orient the thermal imaging camera 301 in an optimum position. Further, the thermal imaging camera 301 may be selectively placed in the middle of the lance 300 for storage and/or transport of the lance 300. The operation aims the nozzle 310 of the lance 300 in a desired direction using the thermal imaging camera 301 for targeting.

During operation, the operator holds a barrel handle 316 with one hand and places his or her other hand within the trigger guard 318 and around the trigger handle 317, both of which are mounted to a lance manifold 322. The barrel handle 316 may actually include two handles or one moveable handle to suit both left-handed and right-handed operators. The lance manifold 322 houses a microswitch for each trigger (e.g., a primary fluid flow trigger 324 and a abrasive material flow trigger 326) and a wireless or hardwired transmitter to send command signals back to the base station to control the fluid flow. In another implementation, the lance 104 includes an abrasive material flow switch (not shown) in lieu of the abrasive material flow trigger 326.

An antenna 340 is electrically connected to the transmitter located within the lance manifold 322 and positioned on the top of the lance manifold 322 for communications with the base station. In the case of a hardwired communications link between the lance 300 and the base station, a communications wire can be run along the lance hose 312 to a receiver in the base station. To open one or more valves in the base station, the operator closes one or both of the triggers 324 and 326 toward trigger handle 317. The lance manifold 322 also includes a handle 328 for easy carrying of the lance 300.

Although the lance hose 312 is shown threading through the lance barrel 302, other implementations may be employed in which the lance hose 312 is only partially enclosed in the lance barrel 302 or even not at all. However, enclosure of the lance hose 312 within the lance barrel 302 provides a compact design that is easy to operate while providing a rigid protective sheath to further enhance the operator's safety in case of lance hose failure or anchor point coupling failure.

FIG. 4A illustrates an exploded view of an example ambidextrous fluid jet lance 400 with a thermal imaging camera mount 409. The assembled fluid jet lance is shown in FIG. 4B. The ambidextrous fluid jet lance 400 includes a body 1, a cover 2, a stock mount 3, and a number of subassemblies (e.g., a grip subassembly 4, a handle subassembly 5, a barrel subassembly 6, and a bi-pod subassembly 7). The body 1 may house a microswitch for each trigger/switch in the grip subassembly 4 and/or a transmitter to send command signals back to a base station to control the fluid flow. The cover 2 provides access to the internal components of the body 1. The stock mount 3 attaches a shoulder support 8 to the body 1.

The grip subassembly 4 includes a barrel handle within a trigger guard and one or more triggers/switches for controlling the flow of fluid and/or abrasive material. The handle subassembly 5 includes the thermal imaging camera mount 409 and is shown in more detail in FIG. 5A. The barrel subassembly 6 includes a long barrel, nozzle components, a coupling, an offset feature, and various fasteners. The bi-pod subassembly 7 includes one or more handles that accommodate right-handed or left-handed use of the lance 400 and is shown in more detail in FIG. 7A. The various components of the lance 400 include metal, plastic, or composite constituent materials, for example.

FIG. 5A illustrates an example fluid jet lance carrying handle 500 with a thermal imaging camera mount 509. The handle 500 includes a mounting plate 544, a handle body 546, and an antenna 548. The handle body 546 and the antenna 548 are attached to a lance (not shown) using the mounting plate 544.

The mounting plate 544 further includes the camera mount 509, which includes a first junction 550 from which an arm 552 extends to a camera mounting plate 554. The first junction 550 may be fixed or a pivot. If the junction 550 is a pivot, it may be hinged (operating about a fixed axis of rotation) or spherical (allowing motion in all directions). In various implementations, the first junction 550 may be a screw, rivet, or ball and joint connection. The arm 552 may be rigid or semi-rigid (i.e., flexible, but able to hold it's shape under the expected load of an attach thermal imaging camera (not shown)). Further, the arm 552 may be articulated to allow for further adjustment of the camera mount 509.

A second junction 556 exists where the arm 552 meets the camera mounting plate 554. Similar to the first junction 550, the second junction may be fixed or a pivot (hinged or spherical). The camera mounting plate 554 is adapted to selectively attach to a thermal imaging camera. For example, the camera mounting plate 554 and thermal imaging camera may utilize various fasteners (e.g., screws, hook-and-loop, clips, and magnets) to selectively fasten together.

Movement of the camera mounting plate 554 with respect to the mounting plate 544 allows the thermal imaging camera to be advantageously positioned by a user. For example, the camera mounting plate 554 may swing side-to-side (e.g., on either side of the lance) and/or up-and-down, as illustrated by arrows 558. Further, the camera mounting plate 554 may be rotated in any direction (e.g., using any of the Euler angles), as illustrated by arrows 560. The manipulation of the first junction 550 as a pivot, manipulation of the second junction 556 as a pivot, and/or articulation of the arm 552 itself allows the camera mounting plate 554 to be positioned and oriented as desired by the user.

Still further, any manipulation of the first junction 550, the second junction 556, and/or the arm 552 may be met by a threshold frictional force in the first junction 550, the second junction 556, and/or the arm 552 that allows the camera mounting plate 554 to remain in a selected position and orientation under expected loading conditions. Further, the first junction 550, the second junction 556, and/or the arm 552 may have a locking/unlocking mechanism that reduces the threshold frictional force for positioning and orienting the camera mounting plate 554 and increases the threshold frictional force to secure the camera mounting plate 554 in a selected position and orientation.

FIGS. 5B, 5C, 5D, and 5E illustrate additional views of the fluid jet lance carrying handle. FIG. 5B illustrates a perspective view of the fluid jet lance carrying handle shown in FIG. 5A. FIG. 5C illustrates a bottom view of the fluid jet lance carrying handle shown in FIG. 5A FIG. 5D illustrates a side view of the fluid jet lance carrying handle shown in FIG. 5A. FIG. 5E illustrates an end view of the fluid jet lance carrying handle shown in FIG. 5A.

FIG. 6A illustrates the example fluid jet lance carrying handle mounting plate 544 of FIG. 5A. The mounting plate 544 includes mounting holes (e.g., hole 562) for attaching the mounting plate 544 to a lance (not shown) and a handle (also not shown). The mounting plate 544 also includes a cable hole 564 for running a cable from an antenna (not shown), through the mounting plate 544 to the lance.

The mounting plate 544 further includes a first junction 550 from which an arm (not shown) extends to a camera mounting plate (not shown). The first junction 550 may be fixed or a pivot. If the junction 550 is a pivot, it may be hinged (operating about a fixed axis of rotation) or spherical (allowing motion in all directions). In various implementations, the first junction 550 may be an aperture that receives a screw, a rivet, or a ball for connection to the arm.

FIGS. 6B, 6C, and 6D illustrate additional views of the mounting plate shown in FIG. 6A. FIG. 6B illustrates a second perspective view of the mounting plate of FIG. 5A. FIG. 6C illustrates a bottom view of the mounting plate shown in FIG. 6A. FIG. 6D illustrates a side view of the mounting plate shown in FIG. 6A. FIG. 6E illustrates a top view of the mounting plate shown in FIG. 6A.

FIG. 7A illustrates an example ambidextrous stabilizing handle 703 for a fluid jet lance (not shown). The stabilizing handle 703 includes an aperture 766 through which a barrel of a lance (not shown) protrudes. The stabilizing handle 703 may be slid along a length and rotated about the barrel to orient the stabilizing handle 703 in a desired location and orientation. Further, the stabilizing handle 703 includes a fastener 768 that may be tightened or loosened to increase and decrease the frictional force that resists changing the location and orientation of the stabilizing handle 703 on the barrel. Still further, the stabilizing handle 703 includes two individual handles 770, 772 that allow the stabilizing handle 703 to be fixed in a desired location and orientation on the barrel and still suit both left-handed and right-handed users of the lance.

The individual handles 770, 772 also enable the stabilizing handle 703 to be used as a bipod for the fluid jet lance. For example, the stabilizing handle 703 may allow the fluid jet lance to be stored on a surface in an upright position, which may prevent damage to components attached to the fluid jet lance (e.g., a thermal imaging camera). Further, an operator may use the stabilizing handle 703 bipod in operation to stabilize the lance against a surface in addition or in lieu of holding the stabilizing handle 703 in the operator's hand. This may reduce the operator's fatigue in using the fluid jet lance.

FIGS. 7B, 7C, and 7D illustrate additional views of the ambidextrous stabilizing handle shown in FIG. 7A. FIG. 7B illustrates a top view of the ambidextrous stabilizing handle shown in FIG. 7A. FIG. 7C illustrates a side view of the ambidextrous stabilizing handle shown in FIG. 7A. FIG. 7D illustrates an exploded view of the ambidextrous stabilizing handle shown in FIG. 7A.

FIG. 8 illustrates example operations 800 for using an ambidextrous fluid jet lance with an integrated thermal imaging camera in a firefighting application. A cutting operation performed on a structure is used to describe these example operations, but various combinations of these examples operation may be employed for other applications, such as surface cleaning, hydroexcavation, etc.

A user in a securing operation 804 secures a fluid jet lance in his/her arms and hands in a left-handed or right-handed orientation. The fluid jet lance is capable of being used in either configuration. In a right-handed implementation, the user seats a shoulder support of the lance against the user's right shoulder, grasps a trigger handle with the user's right hand, and grasps a barrel handle in the user's left hand. In a left-handed implementation, the user seats a shoulder support of the lance against the user's left shoulder, grasps a trigger handle with the user's left hand, and grasps a barrel handle in the user's right hand. The barrel handle may include two individual handles and/or a movable handle to accommodate both left-handed and right-handed implementations.

An orienting operation 806 orients a thermal imaging camera in the user's line-of-sight with an intended target behind a surface (e.g., a building wall). The thermal imaging camera enables the user to see through solid objects (i.e., the surface) that are thermally permeable. Thus, the thermal imaging camera can be used to target the lance. The thermal imaging camera is attached to the lance using an adjustable camera mount. The user adjusts the position and orientation of the thermal imaging camera so that the user can comfortably use the thermal imaging camera to target the lance.

In an example implementation, the thermal imaging camera allows the user to locate hot spots within a building for firefighting purposes. In another implementation, the thermal imaging camera allows the user to locate personnel within a building for military/law enforcement purposes or search-and-rescue operations. More specifically, enemy combatants or fugitives from the law may be targeted behind the wall using the thermal imaging camera. Or, personnel to be rescued may be located behind the wall and the lance targeted to avoid the located personnel.

A placement operation 808 places a distal end of the lance against the surface. The placement operation 808 may target (e.g., a fire) or avoid (e.g., personnel to be rescued) thermal features located using the thermal imaging camera. A closing operation 810 closes two triggers of the lance (or closes a trigger and actuates a switch), opening manifold valves of a base station to flow fluid and an abrasive material through the valves at high pressures. Fluid from one valve flows through an abrasives holding tank and then to a junction to combine with the primary fluid flow from the other valve. This combination of fluid flows travels through a hose to the distal end of the lance barrel, where a nozzle emits a fluid jet against the surface to cut a hole in the surface.

When the hole penetrates the surface, releasing operation 812 releases the abrasive material trigger to close the valve connected to the abrasives holding tank, thereby shutting off the flow of abrasive material while continuing the primary flow of fluid. This continuing flow of primary fluid may be to extinguish or sufficiently knock-down a fire to permit entry into a structure by firefighting personnel. In another implementation, the primary fluid may include a chemical agent that could disorient and/or incapacitate opponents of the structure. In yet another implementation, the releasing operation 812 releases both triggers and the hole is used to run cable for one or more audio and/or video recording device(s) placed on the inside of the structure.

Once the intended target(s) are neutralized or under sufficient control, a releasing operation releases the primary fluid flow trigger, closing the primary fluid valve and terminating the flow of fluid through the fluid jet assembly. The thermal imaging camera may be used to detect whether the intended target(s) are neutralized or under sufficient control. For example, if the peak temperature has dropped below a threshold level behind the wall, a fire may be considered under sufficient control to permit entry into a structure. In another example, if occupants collapse or leave the structure, that structure may be under sufficient control to permit entry by military or law enforcement personnel. One or more of operations 810, 812, and 814 may be performed automatically using the thermal imaging camera and various sensors associated with the fluid jet lance.

An example of use of a lance in a law enforcement context can be illustrated by the following example. Law enforcement or military personnel may be involved in a situation where they need to neutralize one or more individuals located behind a structure. In such a situation, opportunities often need to be capitalized on quickly by the user in order to resolve the situation as safely as possible. The user of a jet fluid lance may use the thermal imaging device to identify the location of individuals who are behind a structure such as a wall. At the desired moment, the user of the lance may then use the lance to penetrate the surface so as to form a hole through the surface. The hole may be formed by utilizing the abrasive material.

Once the hole in the structure is formed, a chemical agent may be dispensed via the hole to the area behind the structure. Chemical agents that have a physiological impact on humans can be particularly effective in such a situation. For example, a chemical agent such as tear gas can be used to incapacitate individuals or force them from a room. A chemical agent that causes an individual to fall asleep or lose consciousness may also be used.

In some instances, a user might choose to form an even larger hole that would permit the insertion of physical objects. For example, a larger hole would permit a user to throw a tear gas canister or a grenade through the hole. One could also insert the muzzle of a firearm through a large hole.

A thermal imaging device can also add a further level of safety to the operation of a lance. For example, the thermal imaging device allows a user to detect the presence of a human (or other animal, such as a pet in a firefighting situation) located behind a structure. Thus, before the operator of the lance penetrates the structure by using the lance, the operator of the lance can have a level of comfort that there is nobody proximate to the path of the abrasive material being used to penetrate the structure.

In one embodiment, a computer could be programmed to detect a thermal image signature of a human. Thus, if a user is not familiar with the thermal image signature of a human, the device could signal the user of the lance. This might be accomplished by flashing a warning on the display screen of the camera. For example, if a human is incapacitated on the floor behind a structure, the thermal imaging device might detect that human's heat level. The device could then form an outline of that area on the display screen of the thermal imaging device and signal the user by an audible or visual alarm. The lance might also be configured to deactivate upon the occurrence of an alarm signal until the user manually overrides the deactivation. This example would prevent the user from inadvertently penetrating the wall immediately adjacent a human unless the user of the wand responds to the alarm by evaluating the display and making a conscious effort to continue.

FIG. 9 illustrates an example of a system that can be utilized to provide computerized alarms or control of lance. FIG. 9 shows a camera 902. The camera can include a sensor portion 904 and a display portion 906. The camera 902 is coupled in communication with a processor 908. The processor can be programmed to detect thermal signatures of humans, for example. The processor can receive information from the camera, such as thermal information detected by the camera's sensor. In addition, the processor can output data to the display of the camera or a secondary display. For example, additional personnel may have auxiliary displays that allow them to display what is being shown on the lance operator's display. The processor may also be coupled with a lance 910. For example, the processor may be utilized to shut down lance operation if a thermal signature of a human is detected beyond a wall. Thus, the processor can communicate a shutdown signal to the lance until the user of the lance overrides the shutdown.

FIG. 10 illustrates a block diagram of a system that can be used for processor implemented devices. For example, FIG. 10 might be utilized for the camera system or the processor in FIG. 9. FIG. 10 broadly illustrates how individual system elements can be implemented. System 1000 is shown comprised of hardware elements that are electrically coupled via bus 1008, including a processor 1001, input device 1002, output device 1003, storage device 1004, computer-readable storage media reader 1005 a, communications system 1006 processing acceleration (e.g., DSP or special-purpose processors) 1007 and memory 1009. Computer-readable storage media reader 1005 a is further coupled to computer-readable storage media 1005 b, the combination comprehensively representing remote, local, fixed and/or removable storage devices plus storage media, memory, etc. for temporarily and/or more permanently containing computer-readable information, which can include storage device 1004, memory 1009 and/or any other such accessible system 1000 resource. System 1000 also comprises software elements (shown as being currently located within working memory 1091) including an operating system 1092 and other code 1093, such as programs, applets, data and the like. As used herein, the term ‘processor’ includes any of one or more circuits, processors, controllers, filed-programmable gate arrays (FPGAs), microprocessors, application-specific integrated circuits (ASICs), other types of computational devices, or combinations thereof that are capable of performing functions ascribed to or associated with the processor.

The logical operations making up the embodiments of the invention described herein are referred to variously as operations, steps, objects, or modules. Furthermore, it should be understood that logical operations may be performed in any order, adding and/or omitting steps as desired, unless explicitly claimed otherwise or a specific order is inherently necessitated by the claim language.

The above specification, examples, and data provide a complete description of the structure and use of exemplary embodiments. Furthermore, structural features of the different embodiments may be combined in yet another embodiment without departing from the recited claims. 

What is claimed is:
 1. A fluid jet lance comprising: a camera mount configured to selectively position a thermal imaging camera in a line of sight of a user.
 2. The fluid jet lance of claim 1, wherein the camera mount is operable to position the thermal imaging camera on either side of the fluid jet lance.
 3. The fluid jet lance of claim 1, further comprising: a thermal imaging camera coupled with the camera mount.
 4. The fluid jet lance of claim 1, further comprising: a barrel handle configured to be grasped in a right-handed or left-handed configuration.
 5. The fluid jet lance of claim 4, wherein the barrel handle includes two individual handles, one for a right-handed configuration and the other for a left-handed configuration.
 6. The fluid jet lance of claim 5, wherein the barrel handle further functions as a bipod to secure the fluid jet lance in an upright position when resting on a surface.
 7. A method of using a fluid jet lance, the method comprising: orienting a thermal imaging camera attached to the fluid jet lance in an operator's line of sight with a solid surface; aiming the lance at a target behind the solid surface; penetrating the solid surface separating the intended target from the lance using a jet of fluid emitted from the lance; dispensing the jet of fluid at the target.
 8. The method of claim 7, wherein during the penetrating operation the jet of fluid contains abrasive material.
 9. The method of claim 8, further comprising: disconnecting a flow of abrasive material into the jet of fluid when the surface is penetrated.
 10. The method of claim 7, further comprising: detecting the presence of the target using the thermal imaging camera; and automatically pressurizing the lance with fluid in response to the detecting operation.
 11. The method of claim 7, further comprising: detecting that the target is neutralized using the thermal imaging camera; and automatically de-pressurizing the lance with fluid in response to the detecting operation.
 12. An apparatus comprising: a fluid jet lance; a source of abrasive material coupled with the fluid jet lance; a source of a chemical agent coupled with the fluid jet lance.
 13. The apparatus of claim 12 wherein the fluid jet lance is configured to dispense the abrasive material and wherein the fluid jet lance is configured to dispense the chemical agent.
 14. The apparatus of claim 12, further comprising: a camera coupled with the fluid jet lance.
 15. The apparatus of claim 12 wherein the chemical agent is operable to produce a physiological reaction on a human.
 16. The apparatus of claim 15 wherein the chemical agent comprises tear gas.
 17. A method comprising: coupling a source of abrasive material with a fluid jet lance; coupling a source of a chemical agent with the fluid jet lance.
 18. The method of claim 17, further comprising: dispensing the abrasive material; and dispensing the chemical agent.
 19. The apparatus of claim 17, further comprising: coupling a camera with the fluid jet lance.
 20. The apparatus of claim 17 wherein the chemical agent is operable to produce a physiological reaction on a human. 